From 481f786fe7750ebf139aeb96045147d47d6182dc Mon Sep 17 00:00:00 2001 From: Vadim Pisarevsky Date: Thu, 28 May 2015 17:05:43 +0300 Subject: [PATCH] added simple HAL test; added RHO homography test --- modules/calib3d/test/test_homography.cpp | 35 +++- modules/core/test/test_hal_core.cpp | 195 +++++++++++++++++++++++ 2 files changed, 222 insertions(+), 8 deletions(-) create mode 100644 modules/core/test/test_hal_core.cpp diff --git a/modules/calib3d/test/test_homography.cpp b/modules/calib3d/test/test_homography.cpp index 1076a7c42a..0d4fae50b1 100644 --- a/modules/calib3d/test/test_homography.cpp +++ b/modules/calib3d/test/test_homography.cpp @@ -662,7 +662,7 @@ TEST(Calib3d_Homography, fromImages) std::vector< DMatch > good_matches; for( int i = 0; i < descriptors_1.rows; i++ ) { - if( matches[i].distance <= 42 ) + if( matches[i].distance <= 100 ) good_matches.push_back( matches[i]); } @@ -676,13 +676,32 @@ TEST(Calib3d_Homography, fromImages) pointframe2.push_back( keypoints_2[ good_matches[i].trainIdx ].pt ); } - Mat inliers; - Mat H = findHomography( pointframe1, pointframe2, RANSAC,3.0,inliers); - int ninliers = countNonZero(inliers); - printf("nfeatures1 = %d, nfeatures2=%d, good matches=%d, ninliers=%d\n", + Mat H0, H1, inliers0, inliers1; + double min_t0 = DBL_MAX, min_t1 = DBL_MAX; + for( int i = 0; i < 10; i++ ) + { + double t = (double)getTickCount(); + H0 = findHomography( pointframe1, pointframe2, RANSAC, 3.0, inliers0 ); + t = (double)getTickCount() - t; + min_t0 = std::min(min_t0, t); + } + int ninliers0 = countNonZero(inliers0); + for( int i = 0; i < 10; i++ ) + { + double t = (double)getTickCount(); + H1 = findHomography( pointframe1, pointframe2, RHO, 3.0, inliers1 ); + t = (double)getTickCount() - t; + min_t1 = std::min(min_t1, t); + } + int ninliers1 = countNonZero(inliers1); + double freq = getTickFrequency(); + printf("nfeatures1 = %d, nfeatures2=%d, matches=%d, ninliers(RANSAC)=%d, " + "time(RANSAC)=%.2fmsec, ninliers(RHO)=%d, time(RHO)=%.2fmsec\n", (int)keypoints_1.size(), (int)keypoints_2.size(), - (int)good_matches.size(), ninliers); + (int)good_matches.size(), ninliers0, min_t0*1000./freq, ninliers1, min_t1*1000./freq); - ASSERT_TRUE(!H.empty()); - ASSERT_GE(ninliers, 80); + ASSERT_TRUE(!H0.empty()); + ASSERT_GE(ninliers0, 80); + ASSERT_TRUE(!H1.empty()); + ASSERT_GE(ninliers1, 80); } diff --git a/modules/core/test/test_hal_core.cpp b/modules/core/test/test_hal_core.cpp new file mode 100644 index 0000000000..3dd0a4c438 --- /dev/null +++ b/modules/core/test/test_hal_core.cpp @@ -0,0 +1,195 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the OpenCV Foundation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ + +#include "test_precomp.hpp" +#include "opencv2/hal.hpp" + +using namespace cv; + +enum +{ + HAL_EXP = 0, + HAL_LOG = 1, + HAL_SQRT = 2 +}; + +TEST(Core_HAL, mathfuncs) +{ + for( int hcase = 0; hcase < 6; hcase++ ) + { + int depth = hcase % 2 == 0 ? CV_32F : CV_64F; + double eps = depth == CV_32F ? 1e-5 : 1e-10; + int nfunc = hcase / 2; + int n = 100; + + Mat src(1, n, depth), dst(1, n, depth), dst0(1, n, depth); + randu(src, 1, 10); + + double min_hal_t = DBL_MAX, min_ocv_t = DBL_MAX; + + for( int iter = 0; iter < 10; iter++ ) + { + double t = (double)getTickCount(); + switch (nfunc) + { + case HAL_EXP: + if( depth == CV_32F ) + hal::exp(src.ptr(), dst.ptr(), n); + else + hal::exp(src.ptr(), dst.ptr(), n); + break; + case HAL_LOG: + if( depth == CV_32F ) + hal::log(src.ptr(), dst.ptr(), n); + else + hal::log(src.ptr(), dst.ptr(), n); + break; + case HAL_SQRT: + if( depth == CV_32F ) + hal::sqrt(src.ptr(), dst.ptr(), n); + else + hal::sqrt(src.ptr(), dst.ptr(), n); + break; + default: + CV_Error(Error::StsBadArg, "unknown function"); + } + t = (double)getTickCount() - t; + min_hal_t = std::min(min_hal_t, t); + + t = (double)getTickCount(); + switch (nfunc) + { + case HAL_EXP: + exp(src, dst0); + break; + case HAL_LOG: + log(src, dst0); + break; + case HAL_SQRT: + pow(src, 0.5, dst0); + break; + default: + CV_Error(Error::StsBadArg, "unknown function"); + } + t = (double)getTickCount() - t; + min_ocv_t = std::min(min_ocv_t, t); + } + EXPECT_LE(norm(dst, dst0, NORM_INF | NORM_RELATIVE), eps); + + double freq = getTickFrequency(); + printf("%s (N=%d, %s): hal time=%.2fusec, ocv time=%.2fusec\n", + (nfunc == HAL_EXP ? "exp" : nfunc == HAL_LOG ? "log" : nfunc == HAL_SQRT ? "sqrt" : "???"), + n, (depth == CV_32F ? "f32" : "f64"), min_hal_t*1e6/freq, min_ocv_t*1e6/freq); + } +} + +enum +{ + HAL_LU = 0, + HAL_CHOL = 1 +}; + +TEST(Core_HAL, mat_decomp) +{ + for( int hcase = 0; hcase < 16; hcase++ ) + { + int depth = hcase % 2 == 0 ? CV_32F : CV_64F; + int size = (hcase / 2) % 4; + size = size == 0 ? 3 : size == 1 ? 4 : size == 2 ? 6 : 15; + int nfunc = (hcase / 8); + double eps = depth == CV_32F ? 1e-5 : 1e-10; + + if( size == 3 ) + continue; + + Mat a0(size, size, depth), a(size, size, depth), b(size, 1, depth), x(size, 1, depth), x0(size, 1, depth); + randu(a0, -1, 1); + a0 = a0*a0.t(); + randu(b, -1, 1); + + double min_hal_t = DBL_MAX, min_ocv_t = DBL_MAX; + size_t asize = size*size*a.elemSize(); + size_t bsize = size*b.elemSize(); + + for( int iter = 0; iter < 10; iter++ ) + { + memcpy(x.ptr(), b.ptr(), bsize); + memcpy(a.ptr(), a0.ptr(), asize); + + double t = (double)getTickCount(); + switch (nfunc) + { + case HAL_LU: + if( depth == CV_32F ) + hal::LU(a.ptr(), a.step, size, x.ptr(), x.step, 1); + else + hal::LU(a.ptr(), a.step, size, x.ptr(), x.step, 1); + break; + case HAL_CHOL: + if( depth == CV_32F ) + hal::Cholesky(a.ptr(), a.step, size, x.ptr(), x.step, 1); + else + hal::Cholesky(a.ptr(), a.step, size, x.ptr(), x.step, 1); + break; + default: + CV_Error(Error::StsBadArg, "unknown function"); + } + t = (double)getTickCount() - t; + min_hal_t = std::min(min_hal_t, t); + + t = (double)getTickCount(); + solve(a0, b, x0, (nfunc == HAL_LU ? DECOMP_LU : DECOMP_CHOLESKY)); + t = (double)getTickCount() - t; + min_ocv_t = std::min(min_ocv_t, t); + } + //std::cout << "x: " << Mat(x.t()) << std::endl; + //std::cout << "x0: " << Mat(x0.t()) << std::endl; + + EXPECT_LE(norm(x, x0, NORM_INF | NORM_RELATIVE), eps); + + double freq = getTickFrequency(); + printf("%s (%d x %d, %s): hal time=%.2fusec, ocv time=%.2fusec\n", + (nfunc == HAL_LU ? "LU" : nfunc == HAL_CHOL ? "Cholesky" : "???"), + size, size, + (depth == CV_32F ? "f32" : "f64"), + min_hal_t*1e6/freq, min_ocv_t*1e6/freq); + } +} -- GitLab